The Navier-Stokes equations

Stress-tensor components for a newtonian fluid

The components of the viscous stress tensor can be determined from (3.31) to give
2
τij′ = 2µγij + (µB − µ)∇ · v̄δij ,
3
¯ and δ represents
where γij = [(∇v̄)ij + (∇v̄ T )ij ]/2 is the ij component of the rate-of-strain tensor T̄ d ij
the Kronecker delta (δii = 1, δij = 0 if i 6= j). From the expressions derived above in Chapter 2, it can
be shown that
   
1 ∂vi X vk ∂hi hj ∂ vj hi ∂ vi
γii = + and γij = + (if i 6= j).
hi ∂xi hi hk ∂xk 2hi ∂xi hj 2hj ∂xj hi
k6=i

Using this last equation together with

 
1 ∂ ∂ ∂
∇ · v̄ = (h2 h3 v1 ) + (h1 h3 v2 ) + (h1 h2 v3 ) ,
h1 h2 h3 ∂x1 ∂x2 ∂x3
one may write expressions for τij′ = τji
′
in different orthogonal coordinate systems.

∂vx ∂vy ∂vz

Cartesian coordinates (∇ · v̄ = ∂x + ∂y + ∂z )

 
′ ∂vx 2 ′ ∂vx ∂vy
τxx = 2µ + (µB − µ)(∇ · v̄) τxy =µ +
∂x 3 ∂y ∂x
 
′ ∂vy 2 ′ ∂vy ∂vz
τyy = 2µ + (µB − µ)(∇ · v̄) τyz =µ +
∂y 3 ∂z ∂y
 
′ ∂vz 2 ′ ∂vx ∂vz
τzz = 2µ + (µB − µ)(∇ · v̄) τzx =µ +
∂z 3 ∂z ∂x

1 ∂rvr 1 ∂vθ ∂vz

Cylindrical coordinates (∇ · v̄ = r ∂r + r ∂θ + ∂z )

 
′ ∂vr 2 ′ ∂  vθ  1 ∂vr
τrr = 2µ + (µB − µ)(∇ · v̄) τrθ =µ r +
∂r 3 ∂r r r ∂θ
   
′ 1 ∂vθ vr 2 ′ ∂vθ 1 ∂vz
τθθ = 2µ + + (µB − µ)(∇ · v̄) τθz =µ +
r ∂θ r 3 ∂z r ∂θ
 
′ ∂vz 2 ′ ∂vr ∂vz
τzz = 2µ + (µB − µ)(∇ · v̄) τzr =µ +
∂z 3 ∂z ∂r

∂vφ
Spherical coordinates (∇ · v̄ = 1 ∂ 2
r 2 ∂r (r vr ) + 1 ∂
r sin θ ∂θ (vθ sin θ) + 1
r sin θ ∂φ )

 
′ ∂vr 2 ′ ∂  vθ  1 ∂vr
τrr = 2µ + (µB − µ)(∇ · v̄) τrθ =µ r +
∂r 3 ∂r r r ∂θ
    v  
′ 1 ∂vθ vr 2 ′ sin θ ∂ φ 1 ∂vθ
τθθ = 2µ + + (µB − µ)(∇ · v̄) τθφ =µ +
r ∂θ r 3 r ∂θ sin θ r sin θ ∂φ
    v 
′ 1 ∂vφ vr vθ cotθ 2 ′ 1 ∂vr ∂ φ
τφφ = 2µ + + + (µB − µ)(∇ · v̄) τφr =µ +r
r sin θ ∂φ r r 3 r sin θ ∂φ ∂r r

46
 The Navier-Stokes equations

Navier-Stokes equations for a perfect liquid (µ and k constants)

CARTESIAN COORDINATES (x,y,z)

Continuity equation
∂vx ∂vy ∂vz
+ + =0
∂x ∂y ∂z
Momentum equation
   2 
∂vx ∂vx ∂vx ∂vx ∂p ∂ vx ∂ 2 vx ∂ 2 vx
ρ + vx + vy + vz =− +µ + + + ρfmx
∂t ∂x ∂y ∂z ∂x ∂x2 ∂y 2 ∂z 2
   2 
∂vy ∂vy ∂vy ∂vy ∂p ∂ vy ∂ 2 vy ∂ 2 vy
ρ + vx + vy + vz =− +µ + + + ρfmy
∂t ∂x ∂y ∂z ∂y ∂x2 ∂y 2 ∂z 2
   
∂vz ∂vz ∂vz ∂vz ∂p ∂ 2 vz ∂ 2 vz ∂ 2 vz
ρ + vx + vy + vz =− +µ + + + ρfmz
∂t ∂x ∂y ∂z ∂z ∂x2 ∂y 2 ∂z 2

Energy equation
   2 
∂T ∂T ∂T ∂T ∂ T ∂2T ∂2T
ρc + vx + vy + vz = φv + k + + + Qc + Qr
∂t ∂x ∂y ∂z ∂x2 ∂y 2 ∂z 2

where
"             #
∂vx 2 ∂vy 2 ∂vz 2 ∂vx ∂vy 2 ∂vx ∂vz 2 ∂vy ∂vz 2
φv = µ 2 +2 +2 + + + + + +
∂x ∂y ∂z ∂y ∂x ∂z ∂x ∂z ∂y

47
 The Navier-Stokes equations

Navier-Stokes equations for a perfect liquid (µ and k constants)

CYLINDRICAL COORDINATES (r,θ,z)

Continuity equation
1 ∂rvr 1 ∂vθ ∂vz
+ + =0
r ∂r r ∂θ ∂z
Momentum equation
 
∂vr ∂vr vθ ∂vr v2 ∂vr
ρ + vr + − θ + vz =
∂t ∂r r ∂θ r ∂z
   
∂p ∂ 1 ∂ 1 ∂ 2 vr ∂ 2 vr 2 ∂vθ
− +µ (rvr ) + 2 + − 2 + ρfmr
∂r ∂r r ∂r r ∂θ 2 ∂z 2 r ∂θ

 
∂vθ ∂vθ vθ ∂vθ vr vθ ∂vθ
ρ + vr + + + vz =
∂t ∂r r ∂θ r ∂z
   
1 ∂p ∂ 1 ∂ 1 ∂ 2 vθ ∂ 2 vθ 2 ∂vr
− +µ (rvθ ) + 2 + + 2 + ρfmθ
r ∂θ ∂r r ∂r r ∂θ 2 ∂z 2 r ∂θ

     
∂vz ∂vz vθ ∂vz ∂vz ∂p 1 ∂ ∂vz 1 ∂ 2 vz ∂ 2 vz
ρ + vr + + vz =− +µ r + 2 + + ρfmz
∂t ∂r r ∂θ ∂z ∂z r ∂r ∂r r ∂θ 2 ∂z 2

Energy equation
     
∂T ∂T vθ ∂T ∂T 1 ∂ ∂T 1 ∂2T ∂2T
ρc + vr + + vz = φv + k r + 2 2 + + Qc + Qr ,
∂t ∂r r ∂θ ∂z r ∂r ∂r r ∂θ ∂z 2

where
( "      #
∂vr 2 1 ∂vθ vr 2 ∂vz 2
φv = µ 2 + + + +
∂r r ∂θ r ∂z
      )
1 ∂vz ∂vθ 2 ∂  vθ  1 ∂vr 2 ∂vr ∂vz 2
+ + r + + +
r ∂θ ∂z ∂r r r ∂θ ∂z ∂r

48
 The Navier-Stokes equations

Navier-Stokes equations for a perfect liquid (µ and k constants)

SPHERICAL COORDINATES (r,θ,φ)

Continuity equation

1 ∂ 2 1 ∂ 1 ∂vφ
2
(r vr ) + (vθ sin θ) + =0
r ∂r r sin θ ∂θ r sin θ ∂φ
Momentum equation
!
vθ2 + vφ2
  
∂vr ∂vr vθ ∂vr vφ ∂vr ∂p ∂ 1 ∂ 2
ρ + vr + + − =− +µ (r vr ) +
∂t ∂r r ∂θ r sin θ ∂φ r ∂r ∂r r 2 ∂r
  
1 ∂ ∂vr 1 ∂ 2 vr 2 ∂ 2 ∂vφ
sin θ + 2 2 − 2 (vθ sin θ) − 2 + ρfmr
r 2 sin θ ∂θ ∂θ r sin θ ∂φ2 r sin θ ∂θ r sin θ ∂φ

!   
∂vθ ∂vθ vθ ∂vθ vφ ∂vθ vr vθ vφ2 cotθ 1 ∂p 1 ∂ 2 ∂vθ
ρ + vr + + + − =− +µ 2 r +
∂t ∂r r ∂θ r sin θ ∂φ r r r ∂θ r ∂r ∂r
  
1 ∂ 1 ∂ 1 ∂ 2 vθ 2 ∂vr 2 cotθ ∂vφ
(vθ sin θ) + 2 2 + 2 − 2 + ρfmθ
r 2 ∂θ sin θ ∂θ r sin θ ∂φ2 r ∂θ r sin θ ∂φ

    
∂vφ ∂vφ vθ ∂vφ vφ ∂vφ vr vφ vθ vφ 1 ∂p 1 ∂ 2 ∂vφ
ρ + vr + + + + cotθ = − +µ 2 r +
∂t ∂r r ∂θ r sin θ ∂φ r r r sin θ ∂φ r ∂r ∂r
  
1 ∂ 1 ∂ 1 ∂ 2 vφ 2 ∂vr 2 cotθ ∂vθ
(vφ sin θ) + 2 2 + 2 + 2 + ρfmφ
r 2 ∂θ sin θ ∂θ r sin θ ∂φ2 r sin θ ∂φ r sin θ ∂φ

Energy equation
 
∂T ∂T vθ ∂T vφ ∂T
ρc + vr + + =
∂t ∂r r ∂θ r sin θ ∂φ
     
1 ∂ 2 ∂T 1 ∂ ∂T 1 ∂2T
φv + k 2 r + 2 sin θ + 2 2 + Qc + Qr ,
r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂φ2
where
( "      #
∂vr 2 1 ∂vθ vr 2 1 ∂vφ vr vθ cotθ 2
φv = µ 2 + + + + + +
∂r r ∂θ r r sin θ ∂φ r r
      )
sin θ ∂  vφ  1 ∂vθ 2 ∂  vθ  1 ∂vr 2 1 ∂vr ∂  vφ  2
+ + r + + +r
r ∂θ sin θ r sin θ ∂φ ∂r r r ∂θ r sin θ ∂φ ∂r r

49